WO2010092321A3 - Robotic muscular-skeletal jointed structures - Google Patents

Robotic muscular-skeletal jointed structures Download PDF

Info

Publication number
WO2010092321A3
WO2010092321A3 PCT/GB2010/000127 GB2010000127W WO2010092321A3 WO 2010092321 A3 WO2010092321 A3 WO 2010092321A3 GB 2010000127 W GB2010000127 W GB 2010000127W WO 2010092321 A3 WO2010092321 A3 WO 2010092321A3
Authority
WO
WIPO (PCT)
Prior art keywords
tubular
parts
attachment
joint
air
Prior art date
Application number
PCT/GB2010/000127
Other languages
French (fr)
Other versions
WO2010092321A2 (en
Inventor
Richard Martin Greenhill
Original Assignee
The Shadow Robot Company Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Shadow Robot Company Limited filed Critical The Shadow Robot Company Limited
Priority to US13/201,434 priority Critical patent/US20120017718A1/en
Publication of WO2010092321A2 publication Critical patent/WO2010092321A2/en
Publication of WO2010092321A3 publication Critical patent/WO2010092321A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Rheumatology (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Manipulator (AREA)

Abstract

A robotic musculo-skeletal jointed structure comprising: (a) first and second joint parts coupled together for relative angular movement about a hinge axis there between; (b) an air muscle; (c) spaced first and second attachment sites, being sites respectively located at said joint first and second parts, and about which the tubular braiding, at least, of said air muscle extends to form an endless loop; (d) first and second attachment means respectively located at said first and second air muscle spaced attachment sites, said first attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint first part at said first attachment site, and said second attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint second part at said second attachment site, the endless tubular braiding being thereby partitioned into first and second tubular braiding segments contiguous with one another at both said attachment sites and housing segregated first and second resiliently expansible tubular parts, respectively; and, (e) air duct means, being means whereby air may be admitted and evacuated, as may be required, independently to and from said resiliently expansible air muscle tubular parts; and in which: (f) said joint parts, the location there between of said axis, the locations of said first and second attachment sites and of said first and second tubular braiding attachment means thereat, and the positional inter-relationship between all of these, are such that change in tubular braiding length arising from variation in girth of the resiliently expansible tubular parts under change in air pressure in said air muscle tubular parts, or either of them, gives rise to a corresponding angular relative displacement between said joint first and second parts about said axis.
PCT/GB2010/000127 2009-02-13 2010-01-27 Robotic musculo-skeletal jointed structures WO2010092321A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/201,434 US20120017718A1 (en) 2009-02-13 2010-01-27 Robotic muscular-skeletal jointed structures

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0902382.1 2009-02-13
GB0902382.1A GB2467762B (en) 2009-02-13 2009-02-13 Robotic musculo-skeletal jointed structures

Publications (2)

Publication Number Publication Date
WO2010092321A2 WO2010092321A2 (en) 2010-08-19
WO2010092321A3 true WO2010092321A3 (en) 2010-11-04

Family

ID=40548120

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2010/000127 WO2010092321A2 (en) 2009-02-13 2010-01-27 Robotic musculo-skeletal jointed structures

Country Status (3)

Country Link
US (1) US20120017718A1 (en)
GB (1) GB2467762B (en)
WO (1) WO2010092321A2 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101304330B1 (en) * 2012-01-17 2013-09-11 한국과학기술연구원 Robot arm having a weight compensation mechanism
CN103009401B (en) * 2012-12-14 2014-09-10 安科智慧城市技术（中国）有限公司 Mechanical arm, control method of mechanical arm and robot
JP2017506169A (en) 2014-02-20 2017-03-02 マーク オレイニク Method and system for food preparation in a robot cooking kitchen
US9194403B2 (en) * 2014-02-23 2015-11-24 Dylan Pierre Neyme Modular hinged joint for use with agonist-antagonist tensile inputs
CN104260105B (en) * 2014-08-29 2015-12-09 福建工程学院 A kind ofly bend and stretch joint based on torque drive
US10518409B2 (en) 2014-09-02 2019-12-31 Mark Oleynik Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries
CN108498287A (en) * 2018-04-25 2018-09-07 京东方科技集团股份有限公司 Device for healing and training and rehabilitation training system
WO2020055342A1 (en) * 2018-09-10 2020-03-19 Ozyegin Universitesi Robotic manipulator including pneumatic artificial muscle
JP7243921B2 (en) * 2020-03-30 2023-03-22 株式会社アイシン robot equipment
CN112828922B (en) * 2021-02-02 2022-04-01 新疆金大禹环境科技有限公司 Expanded arm anticreep of perception indicates
CN113062895B (en) * 2021-05-08 2022-08-19 甘肃黄灿机器人有限责任公司 Muscle structure of robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136004A (en) * 1984-12-07 1986-06-23 Bridgestone Corp Pneumatic actuator
DE3630822A1 (en) * 1985-09-11 1987-03-19 Bridgestone Corp DRIVE DEVICE WITH SWITCHING CAPACITY
WO1995003012A1 (en) * 1993-07-19 1995-02-02 Poil James E Magnetic motion producing device
US5551525A (en) * 1994-08-19 1996-09-03 Vanderbilt University Climber robot
DE19755465A1 (en) * 1997-12-03 1999-06-17 Alexander Dechert Cable operated artificial hand
WO2003074238A1 (en) * 2002-03-07 2003-09-12 The Shadow Robot Company Limited Actuator system comprising an artificial air muscle
WO2003080297A1 (en) * 2002-03-25 2003-10-02 The Shadow Robot Company Limited Humanoid robotics hand actuated by air muscles

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4246661A (en) * 1979-03-15 1981-01-27 The Boeing Company Digitally-controlled artificial hand
CA1228096A (en) * 1983-11-21 1987-10-13 Mirko Kukolj Axially contractable actuator
US4664232A (en) * 1984-04-25 1987-05-12 Bridgestone Corporation Brake device for robot arm
US4860639A (en) * 1984-12-11 1989-08-29 Bridgestone Corporation Flexible tubular wall actuator with end-mounted strain gauge
BE905465A (en) * 1986-09-22 1987-01-16 Beullens Theophile HYDRAULIC OR PNEUMATIC DRIVE DEVICE.
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
JP4007691B2 (en) * 1998-07-03 2007-11-14 帝人株式会社 Biaxially oriented polyester film
US6168634B1 (en) * 1999-03-25 2001-01-02 Geoffrey W. Schmitz Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same
CA2330612A1 (en) * 2000-12-29 2002-06-29 Alain Bernier Flexible actuator
DE10210332A1 (en) * 2002-03-08 2003-10-02 Festo Ag & Co Contraction unit with position sensor device
CN100588511C (en) * 2004-11-22 2010-02-10 松下电器产业株式会社 Joint structure and robot arm
JPWO2006080088A1 (en) * 2005-01-31 2008-06-19 スキューズ株式会社 Actuator, drive device, and hand device
US20070213842A1 (en) * 2006-03-07 2007-09-13 Simmons Randy S Prosthetic arm

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136004A (en) * 1984-12-07 1986-06-23 Bridgestone Corp Pneumatic actuator
DE3630822A1 (en) * 1985-09-11 1987-03-19 Bridgestone Corp DRIVE DEVICE WITH SWITCHING CAPACITY
WO1995003012A1 (en) * 1993-07-19 1995-02-02 Poil James E Magnetic motion producing device
US5551525A (en) * 1994-08-19 1996-09-03 Vanderbilt University Climber robot
DE19755465A1 (en) * 1997-12-03 1999-06-17 Alexander Dechert Cable operated artificial hand
WO2003074238A1 (en) * 2002-03-07 2003-09-12 The Shadow Robot Company Limited Actuator system comprising an artificial air muscle
WO2003080297A1 (en) * 2002-03-25 2003-10-02 The Shadow Robot Company Limited Humanoid robotics hand actuated by air muscles

Also Published As

Publication number Publication date
GB2467762B (en) 2013-08-14
GB0902382D0 (en) 2009-04-01
GB2467762A (en) 2010-08-18
WO2010092321A2 (en) 2010-08-19
US20120017718A1 (en) 2012-01-26

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